WO2019163194A1 - Système, dispositif et procédé de commande de véhicule - Google Patents

Système, dispositif et procédé de commande de véhicule Download PDF

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Publication number
WO2019163194A1
WO2019163194A1 PCT/JP2018/038498 JP2018038498W WO2019163194A1 WO 2019163194 A1 WO2019163194 A1 WO 2019163194A1 JP 2018038498 W JP2018038498 W JP 2018038498W WO 2019163194 A1 WO2019163194 A1 WO 2019163194A1
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WIPO (PCT)
Prior art keywords
service
information
vehicle
schedule
driving vehicle
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PCT/JP2018/038498
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English (en)
Japanese (ja)
Inventor
峰史 廣瀬
直人 安田
祐季 押谷
岩本　進
Original Assignee
本田技研工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to CN201880087151.1A priority Critical patent/CN111684502B/zh
Priority to MYPI2020004138A priority patent/MY189955A/en
Priority to US16/970,406 priority patent/US20210114626A1/en
Priority to JP2020502013A priority patent/JP6915147B2/ja
Publication of WO2019163194A1 publication Critical patent/WO2019163194A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06315—Needs-based resource requirements planning or analysis
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the conventional system only estimates the stay time in order to use the search result again, and it is considered to estimate the stay time in order to promote the use of the vehicle after the passenger gets off. Was not.
  • the present invention has been made in consideration of such circumstances, and a vehicle control system, a vehicle control device, and a vehicle control that can promote the use of an autonomous driving vehicle during a period when the user does not use the autonomous driving vehicle.
  • One of the purposes is to provide a method.
  • the vehicle control system, the vehicle control device, and the vehicle control method according to the present invention employ the following configurations. (1): According to one aspect of the present invention, based on reference information including a use schedule of an autonomous driving vehicle by a user, the non-use period in which the user does not use the autonomous driving vehicle is estimated, and the estimated non-use period And a service management unit that manages a predetermined service provided in a state where the user does not use the autonomous driving vehicle, and the predetermined service managed by the service management unit in the non-use period. And a control unit that generates an action plan for an autonomous driving vehicle.
  • the service management unit estimates an action after the user gets off the autonomous driving vehicle, and includes the estimated action in the reference information.
  • the service management unit estimates the user's behavior pattern and includes the estimated user's behavior pattern in the reference information.
  • the service management unit corrects the non-use period based on the status of the user.
  • the service management unit acquires information about a person related to the user's schedule, and includes the acquired information about the person related to the user's schedule in the reference information .
  • the service management unit asks the user for consent that the predetermined service is provided in the non-use period, and if the user is approved, Process to start the service.
  • the service management unit estimates a plurality of non-use period candidates each having a different length, and the non-use period candidates are partially or completely out of the estimated non-use period candidates. A process for providing the user with the predetermined service that can be provided in the usage period candidate is performed.
  • one or more computers estimate a non-use period in which the user does not use the autonomous driving vehicle based on reference information including a usage schedule of the autonomous driving vehicle by the user.
  • the user manages a predetermined service provided without using the self-driving vehicle, and according to the predetermined service, the action plan of the self-driving vehicle in the non-use period Is a vehicle control method for generating
  • FIG. 6 is a diagram illustrating an example of the contents of schedule information 531.
  • FIG. FIG. 6 is a diagram showing an example of the contents of service condition information 532. It is a figure which shows an example of the content of the positional information 533. It is a figure which shows an example of the content of the vehicle status information 534. It is a figure which shows an example of the content of the usage history information 535.
  • FIG. It is a lineblock diagram of vehicle control device 5 concerning an embodiment. 3 is a functional configuration diagram of a first control unit 120 and a second control unit 160.
  • FIG. 1 is a configuration diagram of a vehicle control system 1 according to the embodiment.
  • the vehicle control system 1 is realized by one or more processors (computers).
  • the vehicle control system 1 includes, for example, one or more vehicle control devices 5, one or more terminal devices 300, a service management device 500, a cleaning management server 700, and a vehicle allocation management server 900.
  • the vehicle control device 5 is an in-vehicle device mounted on an automatic driving vehicle having an automatic driving function.
  • the self-driving vehicle is, for example, a private vehicle for owner X.
  • the terminal device 300 is a terminal device owned by the owner X.
  • a portable device having at least a communication function and an information input / output function, such as a mobile phone such as a smartphone, a tablet terminal, a notebook computer, and a PDA (Personal Digital Assistant). It is a terminal device.
  • a mobile phone such as a smartphone, a tablet terminal, a notebook computer, and a PDA (Personal Digital Assistant). It is a terminal device.
  • the service management device 500 manages a service (hereinafter referred to as a second service) provided by the owner X without using the autonomous driving vehicle.
  • the autonomous driving vehicle moves to a place corresponding to the second service or travels along a route corresponding to the second service.
  • the second service includes, for example, a cleaning service, a car sharing service, a taxi service, a charging service, a delivery service, a delivery box service, and the like.
  • the cleaning service the owner X's self-driving vehicle traveled to the cleaning facility, and cleaning work, etc. (cleaning of the body, cleaning of the interior of the vehicle, change of seat seat arrangement, inspection, other maintenance, etc.) was completed.
  • the car sharing service is a service that utilizes the autonomous driving vehicle of the owner X as a vehicle (hereinafter referred to as a sharing car) used by a user other than the owner X.
  • the taxi service is a service that utilizes the self-driving vehicle of the owner X as a taxi.
  • the charging service the owner X's self-driving vehicle runs to a charging facility or a gas station for charging the battery of an electric vehicle, and after receiving charging or supply of gasoline from the charging facility or a gas station, to a designated place This is a service for running an autonomous vehicle.
  • the delivery service is a service in which a delivery item is placed on an autonomous driving vehicle and transported to a delivery destination in cooperation with a delivery company.
  • the delivery box service is a service that uses an autonomous driving vehicle as a delivery box.
  • the automated driving vehicle picks up a delivery to a user who can receive the delivery within a predetermined time and collects it as it is to the delivery center of the delivery company.
  • This is a service that is stored in an automatic driving vehicle and delivered when a user who is a delivery destination of the delivery item comes to the automatic driving vehicle.
  • the service management apparatus 500 communicates with the cleaning management server 700 and acquires predetermined information when performing processing for providing the cleaning service. Further, the service management apparatus 500 communicates with the vehicle allocation management server 900 to acquire predetermined information when performing processing for providing a car sharing service or a taxi service. The service management apparatus 500 may acquire information necessary for providing the second service by communicating with other external servers (for example, information on the usage status of the charging facility, gas station equipment, etc.).
  • the cleaning management server 700 is a server operated by an operator such as a cleaning company, for example, and receives information on cleaning requests from customers and provides various services related to vehicle cleaning.
  • the cleaning management server 700 selects a cleaning facility according to the cleaning request from the plurality of cleaning facilities, and stores information on the selected cleaning facility in the service management device. Sent to 500.
  • the services that can be provided at each cleaning facility often differ depending on the facilities and personnel of each facility.
  • the vehicle allocation management server 900 is a server operated by a business operator such as a taxi company or a car sharing company, and receives information on vehicle allocation requests from customers and provides various services related to vehicle allocation.
  • the vehicle allocation management server 900 instructs the service management device 500 to allocate an autonomous driving vehicle in response to a vehicle allocation request from a customer.
  • the vehicle allocation management server 900 transmits information related to a vehicle allocation request from a customer (for example, a calling location, a meeting time, the number of people reserved, a destination, etc.) to the service management device 500 to instruct a vehicle allocation.
  • the calling place is a place where a share car or taxi goes to pick up customers.
  • the vehicle allocation management server 900 may transmit to the service management device 500 information indicating an area where a customer can be picked up when traveling by a sink taxi or an area where share cars or taxis are insufficient.
  • the vehicle control device 5, the terminal device 300, the service management device 500, the cleaning management server 700, and the vehicle allocation management server 900 are connected to each other via a network NW, and communicate with each other via this network NW.
  • the network NW includes, for example, some or all of WAN (Wide Area Network), LAN (Local Area Network), the Internet, a dedicated line, a wireless base station, a provider, and the like.
  • an example of a usage scene of the vehicle control system 1 will be described.
  • an owner X gets on an autonomous driving vehicle, leaves home, and arrives at a shopping mall as a destination in the morning. Owner X plans to stay in the shopping mall until the evening. In such a scene, the owner X can receive the second service during a non-use period from arrival at the shopping mall to return.
  • the service management apparatus 500 estimates this non-use period, and executes various processes for providing a second service according to the estimated non-use period. For example, the service management device 500 estimates the non-use period from 10 am to 5 pm, and estimates the return point as a shopping mall.
  • the vehicle control device 5 and the service management device 500 run the autonomous driving vehicle so that it can return to the shopping mall by 5 pm.
  • the use scene of the second service is not limited to this, and can be used in a non-use period in which the autonomous driving vehicle is not used by the owner X, for example, on weekdays or on weekends. In this case, the return point is the home of the owner X or the like.
  • FIG. 2 is a configuration diagram of the service management apparatus 500.
  • the service management device 500 includes a communication unit 510, a service management unit 520, and a storage unit 530.
  • the communication unit 510 includes a communication interface such as a NIC, for example.
  • the storage unit 530 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory such as an SSD (Solid State Drive), an HDD (Hard Disk Drive), or the like.
  • the storage unit 530 stores information such as schedule information 531, service condition information 532, position information 533, vehicle status information 534, usage history information 535, owner status information 536, and attribute information 537, for example.
  • the storage unit 530 may be an external storage device such as a NAS (Network Attached Storage) that can be accessed by the service management apparatus 500 via a network.
  • the service management unit 520 executes various processes described below using information stored in the storage unit 530.
  • Schedule information 531 is information related to the use schedule of the autonomous driving vehicle.
  • FIG. 3 is a diagram illustrating an example of the contents of the schedule information 531.
  • the schedule information 531 may include not only the schedule of each owner X, but also information related to the user's schedule related to the owner X.
  • the schedule information 531 is information in which a date, a time zone, an owner schedule, a service schedule, a replenishment schedule, and a return point are associated with each other.
  • a table as shown in FIG. 3 is prepared for each owner (including related users).
  • the date and time zone are the date and time when each schedule is set.
  • the owner schedule is the personal schedule of owner X and is registered by owner X.
  • the owner schedule includes, for example, information related to the use schedule of the autonomous driving vehicle by the owner X (for example, a destination and a purpose of use).
  • the service schedule includes information related to the use schedule of the second service (for example, the type of the second service, the name of the use facility, etc.).
  • the usage schedule may be set by the owner X, or may be set by the service management apparatus 500 based on the usage schedule set by the owner X, the service condition information 532, or the like.
  • the replenishment schedule is a replenishment schedule determined by a schedule management unit 521 described later.
  • the return point is a point where the autonomous driving vehicle returns after finishing the second service. For example, the return point is a point where the owner X wishes to join the autonomous driving vehicle.
  • Service condition information 532 is information indicating service conditions set by owner X.
  • FIG. 4 is a diagram illustrating an example of the contents of the service condition information 532.
  • the service condition information 532 is information in which service types, minimum required times, priorities, area restrictions, time zone restrictions, user restrictions, strictness of service periods, and the like are associated with service types. It is.
  • the service condition information 532 is information indicating conditions desired by the owner X when receiving the provision of the second service.
  • the service type is information indicating the type of the second service, for example, the name of the second service.
  • the frequency of service is the frequency of use of each second service desired by owner X.
  • the minimum required time is a lower limit value of the time length of each second service desired by the owner X.
  • the priority order is a priority order when the second service provided by the service management apparatus 500 is determined.
  • the area restriction indicates an area where the autonomous driving vehicle can travel while providing the second service.
  • the time zone restriction indicates a time zone during which the autonomous driving vehicle can travel while providing the second service.
  • the user restriction indicates a restriction of customers who get on the autonomous driving vehicle.
  • the strictness of the service period is information indicating whether or not the owner X allows the service to be provided beyond the service period. When the strictness of the service period is high, the service is limited to services that can be provided within the service period, and when the strictness of the service period is low, services that can be provided in the period that extends beyond the service period are allowed.
  • the position information 533 is information indicating the position of the autonomous driving vehicle.
  • FIG. 5 is a diagram illustrating an example of the contents of the position information 533.
  • the position information 533 is information in which vehicle position information and owner position information are associated with the date and time.
  • the vehicle position information is information indicating the position of the autonomous driving vehicle acquired by the navigation device 50.
  • the owner position information is information indicating the position of the terminal device 300 acquired by the GNSS (Global Navigation Satellite System) of the terminal device 300 possessed by the owner X.
  • GNSS Global Navigation Satellite System
  • Vehicle status information 534 is information indicating the state of each autonomous driving vehicle.
  • FIG. 6 is a diagram illustrating an example of the contents of the vehicle status information 534.
  • the vehicle status information 534 is information in which presence / absence of service provision, service type, service progress, travel mode, return point, travel mode, and the like are associated with the vehicle ID.
  • the vehicle ID is identification information for identifying each autonomous driving vehicle.
  • the presence / absence of service provision is information indicating whether the service is being provided.
  • the progress status of the service is information indicating the progress level of the service being provided, the content of the service being provided, and the like.
  • the traveling mode is a traveling mode of an autonomous driving vehicle, and includes, for example, a sink taxi, a calling taxi, a private car, and the like. Details of the running mode will be described later.
  • Usage history information 535 is second service history information provided by each owner X.
  • FIG. 7 is a diagram illustrating an example of the contents of the usage history information 535. As illustrated in FIG. 7, the usage history information 535 is information in which a service type, a first action plan, and the like are associated with a service period. The service period and the first action plan will be described later.
  • the owner status information 536 includes, for example, card usage information, posting information, store usage information, information indicating the estimated owner status, and the like.
  • the card usage information is information regarding the use of a card (credit card, cash card, point) by the owner X, and includes, for example, the date and time when the card was used, the location, the store name, and the target product. Note that the card usage information is not limited to the use of the card itself, but also includes information related to a process equivalent to the use of a pseudo card on the WEB.
  • the posted information is information posted on the WEB using the terminal device 300, and includes, for example, image data, text data, audio data, and the like.
  • the store usage information is information indicating that the owner X has entered or left the store.
  • the information indicating the estimated owner status is, for example, information estimated by the estimation unit 524 described later, including a non-use period, an action of the owner X, a return point, and the like.
  • the attribute information 537 is information indicating the attribute of the owner X, and includes, for example, job type, age, gender, family structure, and the like.
  • the service management unit 520 includes, for example, a schedule management unit 521, an owner information management unit 522, a vehicle position management unit 523, an estimation unit 524, a determination unit 525, a correction unit 526, and a cleaning management.
  • Some or all of these components are realized by, for example, a processor (CPU) such as a CPU (Central Processing Unit) executing a program (software) stored in the storage unit 530.
  • CPU Central Processing Unit
  • Some or all of the functions of these components are implemented by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit).
  • a circuit unit; including circuit may be realized, or may be realized by cooperation of software and hardware.
  • the schedule management unit 521 updates the schedule information 531 based on information received from the vehicle control device 5 or the terminal device 300 using the communication unit 510.
  • the schedule management unit 521 may create a use schedule of the autonomous driving vehicle with reference to the schedule information 531 and the service condition information 532 and add it to the schedule information 531.
  • the schedule management unit 521 creates a service schedule in a set time zone (for example, a period from midnight to 5 am on weekdays) based on the time zone restriction of the service condition information 532.
  • the schedule management unit 521 refers to the schedule information 531, creates a replenishment schedule, and updates the schedule information 531 based on the replenishment schedule. For example, the schedule management unit 521 estimates a behavior pattern based on the schedule of the owner X, and creates a replenishment schedule based on the estimated behavior pattern. As an action pattern, if it is estimated that the person goes to the gym every Monday and Thursday after 8:00 pm, the schedule management unit 521 uses the personal information of the schedule information 531 to change the gym after 8:00 on Monday and Thursday. If there is no plan and no plan, create a plan to go to the gym as a replenishment schedule.
  • the schedule management unit 521 creates a schedule (hereinafter referred to as a registration failure schedule) in which there is a possibility that the input of the owner X may be leaked, and uses it as a supplement schedule. Thereby, the schedule of the owner X can be replenished and the labor of registration can be saved.
  • a registration failure schedule a schedule in which there is a possibility that the input of the owner X may be leaked.
  • the schedule management unit 521 may create an unscheduled schedule by referring to other schedule information of the owner X existing on the WEB and schedule information of another person (for example, family). . For example, when a schedule for eating with the owner X is registered in the family schedule, the schedule management unit 521 creates a meal schedule as a supplement schedule for the owner X.
  • the schedule management unit 521 may create a recommended schedule (hereinafter referred to as a recommended schedule) for the owner X with reference to the storage unit 530 and use it as a supplement schedule.
  • the recommended schedule includes, for example, a schedule corresponding to the attribute of the owner X, and a schedule that may be given a privilege to the owner X (for example, 4 points have been acquired in the past, and if 1 point is acquired, the privilege is given) In the case, the remaining 1 point will be obtained).
  • the owner information management unit 522 updates the service condition information 532 based on the information received from the terminal device 300 using the communication unit 510. Also, the owner information management unit 522 updates the owner status information 536 based on information received from the external server using the communication unit 510.
  • Vehicle position management unit 523 updates position information 533 based on the position information received from vehicle control device 5 using communication unit 510. Further, the vehicle position management unit 523 may update the position information 533 based on the position information received from the terminal device 300 using the communication unit 510.
  • the estimation unit 524 estimates a non-use period in which the owner X does not use the autonomous driving vehicle based on predetermined reference information.
  • the reference information may be information stored in the storage unit 530, or may be information created by the estimation unit 524 based on the information stored in the storage unit 530.
  • the estimation unit 524 may estimate the non-use period based on part or all of the information that can be referred to in the target period for estimating the non-use period among the plurality of reference information.
  • the non-use period may be estimated based on information with high accuracy among the information.
  • the estimation unit 524 may estimate a plurality of non-use periods for one target period.
  • the estimation unit 524 estimates the action and return point of the owner X based on the reference information.
  • the action of the owner X may be a current action or a future action.
  • the estimation unit 524 may store information indicating the estimated behavior of the owner X and information indicating the estimated return point in the storage unit 530 in association with the estimated non-use period.
  • the estimation unit 524 estimates the non-use period based on the behavior of the owner X in the target period.
  • the behavior of the owner X in the target period may be, for example, a schedule registered in the schedule information 531, or may be behavior estimated by the estimation unit 524. In the latter case, for example, when the schedule of the target period is not registered, the estimation unit 524 may estimate the behavior of the owner X in the target period, and estimate the non-use period based on the estimated behavior of the owner X. .
  • the estimation unit 524 performs an action after the owner X gets off the autonomous driving vehicle based on the location and time of the getting off. Is estimated. For example, when there is a beauty salon that the owner X has visited in the past in the vicinity of the place where he got off, the estimation unit 524 estimates that the owner X has visited the beauty salon, and requires an average beauty salon from the present time You may estimate time as a non-use period.
  • the estimation unit 524 estimates the behavior of the owner X during the target period based on the attribute information 537 of the owner X. For example, the estimation unit 524 sets the action range to be narrow when the owner X is a housewife, and widens the action range when the owner X is a company employee, and estimates the action of the owner X within the set range. Also good.
  • the estimation unit 524 estimates the behavior of the owner X during the target period based on the posted information. For example, the estimation unit 524 may estimate an action such as shopping, being in a restaurant, being with a friend, or going to a concert by analyzing an image posted by the owner X. Moreover, the estimation part 524 may estimate the feelings and thoughts of the owner X by analyzing the posted text and voice, and may estimate future actions of the owner X based on the estimation result. For example, if it is presumed that the friend who is together is excited, the owner X presumes that he will continue to be with the friend.
  • the estimation unit 524 acquires the behavior pattern of the owner X based on the schedule information 531 and estimates the behavior of the owner X based on the acquired behavior pattern.
  • the estimation unit 524 may estimate the non-use period based on the estimated behavior of the owner X, or may estimate the non-use period based on the acquired action pattern. For example, when a behavior pattern of commuting to work by train on a weekday and going out using an autonomous driving vehicle on a weekend is estimated, the estimation unit 524 estimates the weekday as a non-use period. In addition, when the going-out schedule is scheduled in the weekday schedule, the estimation unit 524 may estimate that the period scheduled for going out is not a non-use period.
  • the estimation unit 524 may estimate the non-use period based on information on the adjustment partner.
  • the adjustment partner includes, for example, the family of the owner X, a companion accompanying the owner X, and the like.
  • the information related to the adjustment partner includes, for example, the schedule of the adjustment partner, the behavior and behavior pattern of the adjustment partner, and information posted by the adjustment partner.
  • the estimation unit 524 may read out information related to the adjustment partner from the storage unit 530, may acquire the information from another external server, or may perform estimation using a method similar to the method for estimating information related to the owner X. Good.
  • the determination unit 525 sets the non-use period estimated by the estimation unit 524 to a period during which the service management apparatus 500 can provide the second service (hereinafter referred to as service period).
  • the determination unit 525 transmits a confirmation notification for confirming whether or not the service may be provided during the non-use period estimated by the estimation unit 524 to the vehicle control device 5 or the terminal device 300 and confirms the consent of the owner X.
  • the service period may be determined on the condition that it has been obtained, or the service period may be determined without obtaining the consent of the owner X. For example, when setting the service period in a time period (daytime) when the owner X uses the autonomous driving vehicle frequently, the owner X needs to consent, and the owner X uses the autonomous driving vehicle less frequently. The consent of owner X may be unnecessary in the time zone (nighttime).
  • the determination unit 525 may refer to the service condition information 532 and set a period that matches the service condition in the non-use period estimated by the estimation unit 524 as the service period.
  • the determining unit 525 sets the end time of the service period to the return time of the autonomous driving vehicle.
  • the determination unit 525 determines a second service (hereinafter referred to as a provided service) to be provided in the non-use period estimated by the estimation unit 524.
  • the determining unit 525 may determine a provided service for the set service period, or may determine a provided service for a part or all of a plurality of non-use periods that are candidates for the service period.
  • the determination unit 525 may select one of one or more second services (hereinafter referred to as service candidates) from which the autonomous driving vehicle can return to the return point designated by the end time of the service period. Decide on the service to be provided. When there is a usage restriction corresponding to each second service, the determination unit 525 determines a service candidate based on the usage restriction. For example, in the cleaning service, there are limitations on the number of cleaning facilities provided and the number of vehicles that can be cleaned in each cleaning facility. For this reason, the determination part 525 acquires the information regarding the usage condition of a cleaning facility from the cleaning management server 700, and determines a service candidate based on the acquired information.
  • the determination part 525 acquires the information regarding the utilization condition of the space parked or parked with a share car from the vehicle allocation management server 900, and determines a service candidate based on the acquired information.
  • the determination unit 525 notifies the owner X of the service candidate by transmitting information related to the service candidate to the vehicle control device 5 or the terminal device 300 using the communication unit 510.
  • the information on the service candidate is information indicating the attribute of the second service included in the service candidate.
  • the content of the second service included in the service candidate, the time required for the second service included in the service candidate, and included in the service candidate Includes ease of change indicating ease of change of second service.
  • the contents of the second service include, for example, the type of the second service, the location on the map of the facility to be used, the area of the travel route, and the destination set when traveling as a share car or taxi.
  • the changeability of the second service is, for example, information indicating flexibility when the service provider changes the initial schedule during provision of the second service. For example, the ease of change is high when the usage status in the cleaning facility included in the service candidate is not congested, and the ease of change is low when it is congested.
  • the owner X can select a desired second service from among a plurality of service candidates with reference to the attributes of these second services. Based on the information received from the vehicle control device 5 or the terminal device 300 using the communication unit 510, the determination unit 525 determines the second service selected by the owner X from the service candidates as the provided service.
  • the determination unit 525 may refer to the service condition information 532 to determine the second service that best matches the service condition from among the service candidates as the provided service. For the second service that most closely matches the service condition, for example, the second service having the lowest ratio of the actual usage frequency to the frequency defined in “Service Frequency” (the usage frequency desired by the owner X), “Minimum” The second service having the smallest difference between the length of time defined in “Required time” and the length of the service period determined by the determination unit 525, the second service having the highest ranking defined in “priority”, “ The second service having the longest service period included in the time zone defined in “time zone restriction” is included. Further, the determination unit 525 may derive the degree of matching with the service condition based on a plurality of conditions, and may determine the service to be provided based on the derived degree.
  • the determination unit 525 may refer to the usage history information 535 to determine the second service that matches the usage tendency of the owner X from the service candidates as the provided service. For example, the determination unit 525 derives a day of the week and a time zone in which the usage tendency of each second service is high, and provides the second service having the largest matching part (time length) between the derived day of the week and the time zone and the service period as a providing service decide.
  • the determination unit 525 transmits information related to the provided service to the vehicle control device 5 or the terminal device 300 using the communication unit 510, asks the owner X for permission to provide the provided service during the service period, and consents from the owner X. In the case of obtaining the service, processing for providing the provided service may be performed. In addition, when there is a party related to the provided service (for example, when the service period of the provided service is estimated based on information on the adjustment partner), the determination unit 525 provides the provided service during the service period. When a request is received from a related party, and the approval is received from the related party, a process for providing the provided service may be performed.
  • the service period is set in the schedule information 531 (for example, “ ⁇ ”, the type of the second service, the name of the facility used, etc. are described in the service schedule in association with a certain period. In the case), a service to be provided in the set service period may be determined. Further, when the second service in the service period is set in advance by the owner X, the determination unit 525 may determine the set second service as the providing service.
  • the determination unit 525 may determine the service to be provided even if it is the second service that extends the service period.
  • the determining unit 525 terminates the use of the service being provided in order to return to the return point by the end time of the service period based on the current time and the current position of the autonomous driving vehicle (
  • the service use end time is described.
  • the service use end time is the latest time that leaves the cleaning facility.
  • the service use end time is a time at which traveling as a share car or a taxi ends.
  • the determination unit 525 may have a predetermined margin in time when the vehicle travels from the current position or destination of the autonomous driving vehicle (for example, the location of a cleaning facility or a destination set by a share car or taxi customer) to the return point. Based on the total time obtained by adding the time, the service use end time is calculated backward from the end time of the second service period. The determination unit 525 may derive the service use end time based on the traffic jam on the route to the return point, the traffic jam on the route to the destination, or the like. Then, the determination unit 525 transmits the derived service use end time to the vehicle control device 5.
  • the determination unit 525 may have a predetermined margin in time when the vehicle travels from the current position or destination of the autonomous driving vehicle (for example, the location of a cleaning facility or a destination set by a share car or taxi customer) to the return point. Based on the total time obtained by adding the time, the service use end time is calculated backward from the end time of the second service period. The determination unit 525 may derive
  • the determination unit 525 determines the first action plan in the service period.
  • the first action plan includes a destination, a travel mode, a travel schedule, a travel route, and the like. Further, the first action plan includes information for running the autonomous driving vehicle, information for stopping or parking the autonomous driving vehicle for standby, and the like. Each item included in the first action plan may be different depending on the type of the second service.
  • the destination is a destination for receiving the second service. For example, the location on the map of the cleaning facility, the location on the map where the share car stops or parks, the location on the map of the charging station, etc. It is.
  • the traveling mode includes a mode of traveling as a personal vehicle, a mode of traveling as a taxi, and the like.
  • a mode of traveling as a taxi to be picked up (hereinafter referred to as a calling taxi) is included.
  • the travel schedule and the travel route are items set mainly in the taxi service.
  • the travel schedule includes the priority and time of each travel mode.
  • the travel route includes a travel area (center in front of the station, city center), priority road (priority on the main street), and the like.
  • the determination unit 525 may change the first action plan with reference to the storage unit 530 during provision of the provided service (that is, during the service period).
  • the correction unit 526 corrects the non-use period estimated by the estimation unit 524 and determined as the service period by the determination unit 525.
  • the correction unit 526 may correct the non-use period before starting the provision of the second service, or may correct the non-use period during the provision of the second service.
  • the correction unit 526 determines whether or not a predetermined correction condition is satisfied, and corrects the non-use period when it is determined that the correction condition is satisfied.
  • the correction unit 526 includes an action of the owner X referred to in the determination of the provided service (hereinafter referred to as a first action) and an action of the owner X acquired after the determination of the provided service (hereinafter referred to as the first action). Whether or not the correction condition is satisfied is determined based on the difference between the second action and the second action.
  • the difference between the time required for the first action and the time required for the second action is a predetermined time or more, the number of events in the first action and the number of events in the second action And the difference between and a predetermined number is included.
  • An event is a matter executed by the owner X, for example, shopping, a beauty salon, a meal, or the like.
  • satisfying the correction condition may include generation of a factor that causes the second action to deviate from the first action.
  • the cause of the divergence includes a notification from the owner X requesting to return urgently.
  • the correction unit 526 corrects the non-use period based on the second action when the correction condition is satisfied. For example, when the first action is “two hours shopping” and the second action is “three hours shopping”, the correction unit 526 extends the non-use period by one hour.
  • the correction unit 526 transmits information regarding the correction contents to the vehicle control device 5 or the terminal device 300 using the communication unit 510, asks the owner X (or a related party) for permission to change the provided service, and the owner X ( Alternatively, the service provided may be changed when consent is obtained from a related party.
  • the cleaning management unit 527 communicates with the vehicle allocation management server 900 using the communication unit 510, transmits a cleaning facility search request instruction according to the request of the owner X, and receives the search result.
  • the cleaning management unit 527 refers to the service condition information 532 in the storage unit 530 and determines a cleaning facility that matches the service condition from the search results.
  • the vehicle allocation management unit 528 refers to the storage unit 530, searches for an automatic driving vehicle that matches the vehicle allocation request received from the vehicle allocation management server 900 (or a customer), and calls information for the automatic driving vehicle obtained by the search.
  • the autonomous driving vehicle that matches the dispatch request is, for example, a vehicle that satisfies the dispatching condition among the plurality of autonomous driving vehicles registered in advance in the storage unit 530.
  • the number of reserved passengers is less than the capacity, it is possible to arrive at the calling place by the meeting time, and after returning to the return point by the end time of the service period after traveling as a taxi to the destination Includes being able to come.
  • the vehicle allocation conditions may include satisfying service conditions. Satisfying the service condition includes, for example, that the attribute of the customer who called the taxi satisfies the user restriction of the service condition, the destination is within the area restriction range, and the like.
  • the calling information includes the calling location, the number of reservations, the destination, customer attribute information (smoker, pet companion, etc.), customer email address, identification information assigned to the customer, reservation number, and the like.
  • the vehicle allocation management unit 528 generates call information based on the vehicle allocation request from the vehicle allocation management server 900.
  • the charging management unit 529 communicates with a management server (not shown) that manages the charging station and the like using the communication unit 510, transmits a request instruction for searching for the charging station and the like according to the request of the owner X, and the search result Receive.
  • the charge management unit 529 refers to the service condition information 532 in the storage unit 530 and determines a charging station or the like that matches the service condition from the search result.
  • FIG. 8 is a configuration diagram of the vehicle control device 5 according to the embodiment.
  • the vehicle on which the vehicle control device 5 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof.
  • the electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell.
  • the vehicle control device 5 includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human20Machine Interface) 30, a vehicle sensor 40, and a navigation device 50. , MPU (Map Positioning Unit) 60, in-vehicle camera 70, driving operator 80, automatic driving control device 100, traveling driving force output device 200, brake device 210, and steering device 220. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration shown in FIG. 8 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.
  • CAN Controller Area Network
  • the camera 10 is a digital camera using a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • the camera 10 is attached to any location of an autonomous driving vehicle on which the vehicle control device 5 is mounted.
  • the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like.
  • the camera 10 periodically captures an image of the periphery of the autonomous driving vehicle.
  • the camera 10 may be a stereo camera.
  • the radar device 12 radiates radio waves such as millimeter waves around the autonomous driving vehicle, and detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and direction) of the object.
  • the radar device 12 is attached to an arbitrary location of the autonomous driving vehicle.
  • the radar apparatus 12 may detect the position and velocity of the object by FM-CW (Frequency Modulated Continuous Wave) method.
  • the finder 14 is LIDAR (Light Detection and Ranging).
  • the viewfinder 14 irradiates light around the autonomous driving vehicle and measures scattered light.
  • the finder 14 detects the distance to the object based on the time from light emission to light reception.
  • the irradiated light is, for example, pulsed laser light.
  • the finder 14 is attached to any location of the autonomous driving vehicle.
  • the object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the finder 14 to recognize the position, type, speed, and the like of the object.
  • the object recognition device 16 outputs the recognition result to the automatic driving control device 100.
  • the object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic driving control device 100 as they are.
  • the object recognition device 16 may be omitted from the vehicle control device 5.
  • the communication device 20 uses, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to communicate with other vehicles around the autonomous driving vehicle or wirelessly. It communicates with various server apparatuses via a base station.
  • a cellular network for example, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to communicate with other vehicles around the autonomous driving vehicle or wirelessly. It communicates with various server apparatuses via a base station.
  • the HMI 30 presents various information to the occupant of the autonomous driving vehicle and accepts an input operation by the occupant.
  • the HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.
  • the vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the autonomous driving vehicle, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around the vertical axis, an orientation sensor that detects the direction of the autonomous driving vehicle, and the like.
  • the navigation device 50 includes, for example, a GNSS receiver 51, a navigation HMI 52, and a route determination unit 53.
  • the navigation device 50 holds the first map information 54 in a storage device such as an HDD or a flash memory.
  • the GNSS receiver 51 specifies the position of the autonomous driving vehicle based on the signal received from the GNSS satellite.
  • the position of the autonomous driving vehicle may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40.
  • the navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like.
  • the navigation HMI 52 may be partly or wholly shared with the HMI 30 described above.
  • the route determination unit 53 for example, from the position of the autonomous driving vehicle specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52 (hereinafter, The route on the map is determined with reference to the first map information 54.
  • the first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link.
  • the first map information 54 may include road curvature, POI (Point Of Interest) information, and the like.
  • the on-map route is output to the MPU 60.
  • the navigation device 50 may perform route guidance using the navigation HMI 52 based on the map route.
  • the navigation device 50 may be realized, for example, by a function of a terminal device such as a smartphone or a tablet terminal held by an occupant.
  • the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and obtain a route equivalent to the on-map route from the navigation server.
  • the MPU 60 includes, for example, a recommended lane determination unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory.
  • the recommended lane determining unit 61 divides the on-map route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 Determine the recommended lane for each block.
  • the recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel.
  • the recommended lane determining unit 61 determines a recommended lane so that the autonomous driving vehicle can travel on a reasonable route for proceeding to the branch destination when a branch point exists on the map route.
  • the second map information 62 is map information with higher accuracy than the first map information 54.
  • the second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane.
  • the second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like.
  • the second map information 62 may be updated as needed by the communication device 20 communicating with other devices.
  • the in-vehicle camera 70 is a digital camera using a solid-state image sensor such as a CCD or a CMOS, for example.
  • the in-vehicle camera 70 is attached to any location for imaging the interior of the autonomous driving vehicle.
  • the driving operator 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steer, a joystick, and other operators.
  • a sensor for detecting the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device.
  • a part or all of 220 is output.
  • the automatic operation control apparatus 100 includes a first control unit 120 and a second control unit 160, for example.
  • Each of the first control unit 120 and the second control unit 160 is realized by executing a program (software) by a hardware processor such as a CPU, for example.
  • a hardware processor such as a CPU
  • Some or all of these components may be realized by hardware (circuit unit; including circuitry) such as LSI, ASIC, FPGA, GPU, etc., or by cooperation of software and hardware. May be.
  • the program may be stored in advance in a storage device such as an HDD or a flash memory of the automatic operation control device 100, or is stored in a removable storage medium such as a DVD or a CD-ROM, and the storage medium is a drive device. May be installed in the HDD or flash memory of the automatic operation control device 100.
  • FIG. 9 is a functional configuration diagram of the first control unit 120 and the second control unit 160.
  • the first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140.
  • the first control unit 120 realizes a function based on AI (Artificial Intelligence) and a function based on a model given in advance.
  • AI Artificial Intelligence
  • the “recognize intersection” function executes recognition of an intersection by deep learning or the like and recognition based on a predetermined condition (such as a signal that can be matched with a pattern and road marking) in parallel. May be realized by scoring and comprehensively evaluating. This ensures the reliability of automatic driving.
  • the recognition unit 130 determines the positions of objects around the autonomous driving vehicle and the state such as speed and acceleration. recognize.
  • the position of the object is recognized as a position on an absolute coordinate with the representative point (the center of gravity, the center of the drive shaft, etc.) of the autonomous driving vehicle as the origin, and is used for control.
  • the position of the object may be represented by a representative point such as the center of gravity or corner of the object, or may be represented by a represented area.
  • the “state” of the object may include acceleration or jerk of the object, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed).
  • the recognition unit 130 recognizes, for example, a lane (traveling lane) in which an autonomous driving vehicle is traveling.
  • the recognizing unit 130 recognizes road lane markings from the second map information 62 (for example, an arrangement of solid lines and broken lines) and road lane markings around the autonomous driving vehicle recognized from the image captured by the camera 10.
  • the driving lane is recognized by comparing with the pattern.
  • the recognition unit 130 may recognize a travel lane by recognizing not only a road lane line but also a road lane line (road boundary) including a road lane line, a road shoulder, a curb, a median strip, a guardrail, and the like. .
  • the recognition unit 130 recognizes a stop line, an obstacle, a red light, a toll gate, and other road events.
  • the recognizing unit 130 recognizes the position and orientation of the autonomous driving vehicle with respect to the traveling lane when recognizing the traveling lane.
  • the recognizing unit 130 for example, the relative position of the autonomous driving vehicle with respect to the traveling lane is the angle between the deviation of the reference point of the autonomous driving vehicle from the lane center and the line connecting the lane centers in the traveling direction of the autonomous driving vehicle And may be recognized as a posture. Instead, the recognition unit 130 recognizes the position of the reference point of the autonomous driving vehicle with respect to any side edge (road lane line or road boundary) of the traveling lane as the relative position of the autonomous driving vehicle with respect to the traveling lane. May be.
  • the action plan generation unit 140 generates a second action plan for the autonomous driving vehicle in the service period, for example, according to the service managed by the service management apparatus 500.
  • the second action plan includes information for running the autonomous driving vehicle, information for stopping or parking the autonomous driving vehicle for standby, and the like.
  • the first action plan is a rough action plan determined to execute the service
  • the second action plan is a detailed action plan for running or stopping the autonomous driving vehicle.
  • the second action plan includes an automatic driving event determined by the event determining unit 142, a target trajectory generated by the target trajectory generating unit 144, and the like.
  • the action plan generation unit 140 includes, for example, an event determination unit 142, a target trajectory generation unit 144, and a service management control unit 146.
  • the event determination unit 142 determines an automatic driving event on the route for which the recommended lane is determined.
  • the event is information that defines the traveling mode of the autonomous driving vehicle.
  • the automatic driving event includes a constant speed driving event, a low speed following driving event, a lane change event, a branch event, a merge event, a takeover event, and the like.
  • the event determination unit 142 changes the already determined event to another event or newly determines an event according to the surrounding situation recognized by the recognition unit 130 when the autonomous driving vehicle is traveling. You can do it.
  • the target track generation unit 144 responds to surrounding conditions when the autonomous driving vehicle travels in the recommended lane determined by the recommended lane determination unit 61 and further the autonomous driving vehicle travels in the recommended lane. Then, a future target trajectory for automatically driving the autonomously driven vehicle (regardless of the operation of the driver) in the traveling mode defined by the event is generated.
  • the target trajectory includes, for example, a position element that determines the position of the future autonomous driving vehicle and a speed element that determines the speed of the future autonomous driving vehicle and the like.
  • the target trajectory generation unit 144 generates a target trajectory corresponding to the event activated by the event determination unit 142.
  • the target track generation unit 144 determines a plurality of points (track points) that the autonomous driving vehicle should reach in order as position elements of the target track.
  • the track point is a point to be reached by the autonomous driving vehicle every predetermined traveling distance (for example, about several [m]).
  • the predetermined travel distance may be calculated by, for example, a road distance when traveling along a route.
  • the target trajectory generation unit 144 determines the target speed and target acceleration for each predetermined sampling time (for example, about 0 comma [sec]) as speed elements of the target trajectory. Further, the track point may be a position where the autonomous driving vehicle should reach at every sampling time at the sampling time. In this case, the target speed and target acceleration are determined by the sampling time and the orbit point interval. The target trajectory generation unit 144 outputs information indicating the generated target trajectory to the second control unit 160.
  • the service management control unit 146 causes the autonomous driving vehicle to travel during the service period determined by the service management apparatus 500, and causes the autonomous driving vehicle to travel back to the return point by the end time of the service period. For example, the service management control unit 146 follows the instruction from the service management device 500 (or according to the first action plan created by the service management device 500), and automatically drives the vehicle, such as a cleaning facility, a taxi call site, a charging station, etc. Drive towards.
  • the service management control unit 146 instructs the navigation device 50 to determine a route to the destination based on the first action plan received from the service management device 500, for example.
  • the MPU 60 determines a recommended lane, the event determination unit 142 determines an event, and the target track generation unit 144 generates a target track.
  • the second control unit 160 controls each device based on information output from the first control unit 120, so that the autonomous driving vehicle can travel according to the first action plan.
  • the service management control unit 146 monitors whether or not the service use end time has come based on the service use end time received from the service management apparatus 500. When the service use end time is reached (exactly the same time, or when that time has passed, the same applies hereinafter), the service management control unit 146 ends or interrupts the service and causes the autonomous driving vehicle to travel toward the return point. .
  • the action plan generation unit 140 can generate a second action plan for running or stopping the autonomous driving vehicle according to the first action plan instructed by the service management apparatus 500.
  • the service management control unit 146 causes the autonomous driving vehicle to travel along the optimum route to the cleaning facility, and when the cleaning at the cleaning facility is completed, the service management control unit 146 moves the autonomous driving vehicle along the optimum route to the return point. Let it run.
  • the service management control unit 146 may cause the automatic driving vehicle to run as a sink taxi until a call from the customer is received, and may cause the automatic driving vehicle to run as a calling taxi when there is a call from the customer.
  • the service management control unit 146 terminates the taxi travel once in a situation where the passenger is not caught in a situation where the taxi travels as a sink taxi, and automatically drives the vehicle until the return time. May be parked.
  • the second control unit 160 causes the driving force output device 200, the brake device 210, and the steering device 220 to pass through the target trajectory generated by the action plan generation unit 140 in accordance with a scheduled time. Control.
  • the second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166.
  • the acquisition unit 162 acquires information on the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown).
  • the speed control unit 164 controls the travel driving force output device 200 or the brake device 210 based on a speed element associated with the target track stored in the memory.
  • the steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory.
  • the processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control.
  • the steering control unit 166 executes a combination of feedforward control according to the curvature of the road ahead of the autonomous driving vehicle and feedback control based on a deviation from the target track.
  • the driving force output device 200 outputs a driving force (torque) for driving the vehicle to driving wheels.
  • the travel driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these.
  • the ECU controls the above-described configuration according to information input from the second control unit 160 or information input from the driving operator 80.
  • the brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU.
  • the brake ECU controls the electric motor in accordance with the information input from the second control unit 160 or the information input from the driving operation element 80 so that the brake torque corresponding to the braking operation is output to each wheel.
  • the brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder.
  • the brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to information input from the second control unit 160 and transmits the hydraulic pressure of the master cylinder to the cylinder. Also good.
  • the steering device 220 includes, for example, a steering ECU and an electric motor.
  • the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism.
  • the steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the driving operator 80, and changes the direction of the steered wheels.
  • FIG. 10 is a sequence diagram illustrating an example of a flow of a series of processes by the vehicle control system 1 according to the embodiment.
  • the process of this sequence diagram may be repeatedly performed at a predetermined cycle.
  • the owner X uses the terminal device 300 to input the use schedule of the autonomous driving vehicle (step S1). Based on the operation by the owner X, the terminal device 300 transmits information indicating the use schedule of the autonomous driving vehicle to the service management device 500 via the network NW (step S2). Moreover, the owner X may input the usage schedule of the autonomous driving vehicle using the HMI 30 of the vehicle control device 5 (step S3). Based on the operation by the owner X, the vehicle control device 5 transmits information indicating the use schedule of the autonomous driving vehicle to the service management device 500 via the network NW (step S4). The service management device 500 updates the schedule information 531 in the storage unit 530 based on the information received from the terminal device 300 or the vehicle control device 5 (step S5).
  • the owner X uses the terminal device 300 to input service conditions for the autonomous driving vehicle (step S6). Based on the operation by the owner X, the terminal device 300 transmits information indicating the service condition to the service management device 500 via the network NW (step S7). In addition, the owner X may input service conditions for the autonomous driving vehicle using the HMI 30 of the vehicle control device 5 (step S8). The vehicle control device 5 transmits information indicating the service condition to the service management device 500 via the network NW based on the operation by the owner X (step S9). The service management apparatus 500 updates the service condition information 532 in the storage unit 530 based on the received information (step S10).
  • the service management apparatus 500 executes a schedule replenishment process, and updates the schedule information 531 based on the created replenishment schedule (step S21). Details of this schedule replenishment process will be described later.
  • the service management device 500 executes a nonuse period estimation process for estimating a nonuse period (step S22). Details of this non-use period estimation process will be described later.
  • the service management apparatus 500 executes service determination processing (step S23). Details of the service determination process will be described later.
  • step S31 it is determined whether or not a predetermined time before the start time of the provided service determined by the service determination process.
  • the service management device 500 starts a process for providing the provided service and transmits various instructions to the vehicle control device 5 (step S32).
  • the vehicle control device 5 controls the autonomous driving vehicle based on the instruction received from the service management device 500 (step S33).
  • the service management apparatus 500 executes a review process (step S34).
  • the service management device 500 corrects the content of the provided service and transmits the correction content to the vehicle control device 5 (step S35).
  • the vehicle control device 5 controls the autonomous driving vehicle based on the correction content received from the service management device 500 (step S36).
  • FIG. 11 is a flowchart illustrating an example of a schedule replenishment process performed by the service management apparatus 500. The process of this flowchart is performed for each autonomous driving vehicle.
  • the schedule management unit 521 refers to the schedule information 531 and estimates the behavior pattern of the owner X based on the past schedule of the owner X (step S101).
  • the schedule management unit 521 creates a registration omission schedule based on the estimated behavior pattern for a period in which no schedule is included in the schedule indicated by the schedule information 531 (step S103).
  • step S ⁇ b> 103 if there is no plan to replenish in a period without a plan, the schedule management unit 521 does not have to create a registration omission schedule. If a registration omission schedule is created in step S103 (step S105), the schedule management unit 521 registers the created omission registration schedule as a supplement schedule in the schedule information 531 (step S107).
  • the schedule management unit 521 refers to the schedule information 531 and creates a registration omission schedule based on the past schedule of the user related to the owner X (step S109).
  • the schedule management unit 521 may not create a registration omission schedule.
  • the schedule management unit 521 registers the created registration failure schedule as a supplement schedule in the schedule information 531 (step S113).
  • the schedule management unit 521 creates a recommended schedule with reference to the schedule information 531, the owner status information 536, the attribute information 537, and the like (step S115).
  • the schedule management unit 521 may not create a recommended plan.
  • the schedule management unit 521 registers the created recommended schedule in the schedule information 531 as a supplement schedule (step S119).
  • FIG. 12 is a flowchart illustrating an example of a non-use period estimation process performed by the service management apparatus 500. The process of this flowchart is performed for each target period of each autonomous driving vehicle.
  • the estimation unit 524 determines whether it is the estimation timing of the target period (step S201).
  • the estimated timing includes, for example, a predetermined time, a timing when the owner X gets out of the autonomous driving vehicle, a timing that is a predetermined time before the getting-off time specified by the owner X, and the owner X has requested to provide a second service. Timing etc. are included.
  • the target period includes, for example, 12 hours after getting off in the morning of the next day, 12 hours from when the second service is desired.
  • the estimation unit 524 refers to the schedule information 531 and determines whether or not there is a registration schedule (including an owner schedule and a service schedule) related to the target period (step S203).
  • the “registration schedule related to the target period” may be within the target period, or may be a schedule scheduled for a period including a predetermined period before and after the target period.
  • the estimation unit 524 includes the registration schedule in the reference information (step S205).
  • the estimation unit 524 refers to the schedule information 531 and determines whether there is a replenishment schedule related to the target period (step S207). When there is a supplement schedule related to the target period, the estimation unit 524 includes the supplement schedule in the reference information (step S209).
  • the estimation unit 524 determines whether or not the behavior of the owner X in the target period can be estimated (step S211). When the behavior of the owner X can be estimated, the estimation unit 524 includes the estimated behavior of the owner X in the reference information (step S213).
  • the estimation unit 524 acquires the behavior pattern of the owner X, and determines whether there is a behavior pattern related to the target period (step S215). When there is an action pattern related to the target period, the estimation unit 524 includes the action pattern in the reference information (step S217).
  • the estimation unit 524 refers to the schedule information 531 and determines whether or not there is an adjustment partner who needs to adjust the schedule in the target period (step S219).
  • the estimation unit 524 includes information on the adjustment partner in the reference information (step S221).
  • the estimation part 524 estimates a non-use period based on reference information (step S223).
  • FIG. 13 is a flowchart illustrating an example of the flow of service determination processing by the service management apparatus 500. The process of this flowchart is performed for each autonomous driving vehicle.
  • the determination unit 525 determines the service period when the predetermined timing comes (step S301).
  • the predetermined timing is, for example, a timing when the schedule information 531 is updated, a timing when a predetermined time set in advance (every day at 2 am), or the like.
  • the determination unit 525 determines whether or not the type of the second service in the determined service period is set by the owner X (step S303).
  • the type of the second service in the service period is specified, for example, in the use schedule of the autonomous driving vehicle, the determination unit 525 determines the specified type of second service as the provided service (step S305), and the determined provided service
  • the first action plan corresponding to the is determined (step S307).
  • the determination unit 525 registers information regarding the determined provided service and the first action plan in the usage history information 535 of the storage unit 530.
  • step S303 when the type of the second service in the service period is not set, the determination unit 525 determines one or more service candidates in the service period (step S309). And the determination part 525 transmits the information which shows a service candidate to the terminal device 300 or the vehicle control apparatus 5, and notifies the owner X (step S311). Next, the determination unit 525 determines whether any of the service candidates has been selected by the owner X (step S313). When information indicating any of the service candidates is received from the terminal device 300 or the vehicle control device 5, the determination unit 525 determines the service candidate selected by the owner X as a service to be provided (step S315). A first action plan corresponding to the provided service is determined (step S307).
  • step S313 if any of the service candidates is not selected by the owner X within a predetermined time after the service candidate is notified to the owner X, the service management apparatus 500 determines whether the automatic setting is valid. Is determined (step S317).
  • the automatic setting is valid indicates that the owner X consents that the determination unit 525 determines the optimum second service to be the provided service.
  • the determination unit 525 determines the second service that best matches the service condition from among the service candidates as the service to be provided (step S319), and determines the first action plan corresponding to the determined service to be provided. Determination is made (step S307).
  • FIG. 14 is a flowchart illustrating another example of the service determination process performed by the service management apparatus 500. The process of this flowchart is performed for each autonomous driving vehicle.
  • the estimation unit 524 estimates a plurality of non-use period candidates each having a different length (step S401). For example, the estimation unit 524 estimates non-use period candidates such as a 2-hour course, a 4-hour course, and a 6-hour course from the time when the owner X gets off the autonomous driving vehicle.
  • the determination unit 525 determines a service candidate for each nonuse period candidate estimated in step S401 (step S403), transmits information indicating the service candidate to the terminal device 300 or the vehicle control device 5, and the owner X (Step S405).
  • the determination unit 525 determines whether any of the service candidates has been selected by the owner X (step S407).
  • the determination unit 525 determines the service candidate selected by the owner X as a service to be provided (step S409).
  • a first action plan corresponding to the provided service is determined (step S411).
  • the determination unit 525 may determine the second service that best matches the service condition from the service candidates determined in step S403 as the provided service.
  • FIG. 15 is a flowchart illustrating an example of the flow of review processing by the service management apparatus 500. The process of this flowchart is performed for each autonomous driving vehicle.
  • the correction unit 526 determines whether or not the review timing has been reached for the provided service being provided (step S501).
  • the review timing includes, for example, a predetermined time, a timing when the owner status information 536 is updated, and the like.
  • the correction unit 526 refers to the schedule information 531 and the owner status information 536, and acquires the first action referred to when the provided service being provided is determined (step S503).
  • the correcting unit 526 refers to the schedule information 531 and the owner status information 536 and acquires (or estimates) the behavior of the owner X at the current time, and sets it as the first behavior (step S505).
  • the correcting unit 526 determines whether the correction condition is satisfied based on the first action and the second action (step S507). When it is determined that the correction condition is satisfied, the correction unit 526 corrects the non-use period based on the second action (step S509). And the determination part 525 changes a 1st action plan based on the non-use period corrected by the correction part 526 (step S511).
  • a service management unit 520 that manages a predetermined service provided in a state where the user does not use the automatic driving vehicle, and the automatic driving vehicle is automatically operated according to the predetermined service managed by the service management unit.
  • the service management control unit 146 that causes the vehicle to travel to the vehicle allows the user other than the owner to use the autonomous driving vehicle widely.
  • FIG. 16 is a diagram illustrating an example of a hardware configuration of the automatic driving control apparatus 100 according to the embodiment.
  • an automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM 100-3 used as a working memory, a ROM 100-4 for storing a boot program, a storage device such as a flash memory and an HDD.
  • 100-5, drive device 100-6, and the like are connected to each other via an internal bus or a dedicated communication line.
  • the communication controller 100-1 performs communication with components other than the automatic operation control device 100.
  • the storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded in the RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like and executed by the CPU 100-2. Thereby, a part or all of the first control unit 120 and the second control unit 160 is realized.
  • DMA Direct Memory Access
  • At least one of the service management device 500 and the vehicle control device 5 may determine the return point of the autonomous driving vehicle based on the position information 533. For example, when the owner X moves from the shopping mall based on the owner position information, the determination unit 525 may determine the position after the movement of the owner X as a return point.
  • the service management apparatus 500 may include part or all of the unit 146. That is, at least one of the service management unit 520 or the service management control unit 146 is included in the “control unit” that automatically drives the autonomous driving vehicle according to a predetermined service managed by the service management control unit 146. .
  • the second service is not limited to the above-mentioned services.
  • a service that searches for a cheaper parking lot and parks it a service that comes to pick up after returning home, or a child after taking adults to the company. It may be a service that sends us to a cram school.

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Abstract

Selon un mode de réalisation, la présente invention concerne un système de commande de véhicule comprenant : une partie de gestion de service (520) qui prédit, à partir d'informations de référence qui comprennent un programme d'utilisation concernant l'utilisation d'un véhicule autonome par un utilisateur, des périodes de non utilisation pendant lesquelles l'utilisateur n'utilisera pas le véhicule autonome et qui gère, pendant les périodes de non utilisation prédites, des services prescrits qui sont fournis quand l'utilisateur n'utilise pas le véhicule autonome ; et des parties de commande (525, 140) qui génèrent, en fonction des services prescrits gérés par la partie de gestion de service, des plans d'action en ce qui concerne le véhicule autonome pour les périodes de non utilisation.
PCT/JP2018/038498 2018-02-22 2018-10-16 Système, dispositif et procédé de commande de véhicule WO2019163194A1 (fr)

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CN201880087151.1A CN111684502B (zh) 2018-02-22 2018-10-16 车辆控制系统、车辆控制装置、及车辆控制方法
MYPI2020004138A MY189955A (en) 2018-02-22 2018-10-16 Vehicle control system, vehicle control device, and vehicle control method
US16/970,406 US20210114626A1 (en) 2018-02-22 2018-10-16 Vehicle control system, vehicle control device, and vehicle control method
JP2020502013A JP6915147B2 (ja) 2018-02-22 2018-10-16 車両制御システム、車両制御装置、および車両制御方法

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